TWI668359B - Rolling door speed control device and control method thereof - Google Patents

Abstract

The invention relates to a rolling door speed control device and a control method thereof, which mainly controls the acceleration or deceleration of the operation of the door piece according to the instantaneous rolling speed of the door piece, and can fully control the speed of the door piece according to different specifications. Wherein, when the instantaneous scrolling speed of the door piece reaches an acceleration speed value, the control module controls the rolling door driving module to accelerate the opening or closing of the door piece; when the instantaneous rolling speed of the door piece reaches a deceleration speed value, the control The module controls the opening or closing of the deceleration door of the rolling door driving module; when the instantaneous rolling speed of the door is between the acceleration speed value and the deceleration speed value, the control module controls the rolling door driving module to maintain the current speed. .

Description

 Rolling door speed control device and control method thereof  

The invention relates to a rolling door speed control device and a control method thereof, in particular to a rolling door speed control device capable of changing the opening or closing speed of a rolling door and a control method thereof.

At present, most common rolling door machines are opened or closed at a constant speed, that is to say, the speed at which the rolling door is operated is fixed. However, when faced with a long-running environment in which the door is opened or closed, the waiting time is too long, which is not only time-consuming but also wastes energy. Therefore, the rolling door system with variable operating speed is an urgent need of the industry and the public.

Although there is a related art in the prior art for controlling the scrolling speed of the rolling door by using the absolute position, that is, accelerating or decelerating at a specific position, such a control method is not flexible enough to be varied depending on different needs, and It can also only be used for the use of the roll door fully open or fully closed.

In addition, the specifications of the door machine are usually fixed, but the door piece usually needs different conditions, and the construction conditions of the roll door installation site, the specifications are different, such as the size, type or material, etc. The weight will also vary. However, different weights of the door will affect the running load of the door machine. If the rolling speed of the rolling door is simply controlled according to the absolute position, the door machine may be damaged due to excessive load during the acceleration process, or the load may be too light. The door machine is running too fast and dangerous.

In addition, with the development of the roll door instant position detection technology, the realization of a roll door system with variable speed is made possible. Further, please refer to US Patent Publication No. US 2016/0090772 A1 "Door Operator System Capable of Detecting a Current-Time Position of a Movable Barrier", which utilizes a door system of a roll door instant position detecting device The first rotation angle sensing unit directly or indirectly measures the rotation angle of the motor output shaft or the rolling door door shaft, and calculates and outputs the number of rotations of the motor output shaft or the rolling door shaft by using a number of turns calculation unit, and This is used to calculate the instantaneous absolute position of the roll door.

However, even if the instantaneous absolute position of the rolling door can be smoothly obtained, there are still considerable difficulties in how to apply it to the control of the operating speed of the rolling door system. Accordingly, the present invention solves all the difficulties and officially introduces a rolling door system with a variable operating speed.

SUMMARY OF THE INVENTION The main object of the present invention is to provide a roll door speed control device and a control method thereof, which can perform shift control of opening or closing of a door piece to increase the running speed of opening or closing of the door piece.

To achieve the above object, the invention provides a roll door speed control device suitable for controlling a roll door drive module, and a roll door drive module for driving a door piece to be opened or closed. The device mainly comprises a speed detecting mode. The group and the control module, the speed detecting module is adapted to detect the instantaneous scrolling speed of the door piece, and the control module is electrically connected to the speed detecting module and the rolling door driving module. Wherein, when the instantaneous scrolling speed of the door piece reaches an acceleration speed value, the control module controls the rolling door driving module to accelerate the opening or closing of the door piece; when the instantaneous rolling speed of the door piece reaches a deceleration speed value, the control The module controls the opening or closing of the deceleration door of the rolling door drive module; when the instantaneous rolling speed of the door is between the acceleration speed value and the deceleration speed value, the control module controls the rolling door driving module to maintain the current speed.

Accordingly, the roll door speed control device of the present invention can control the acceleration or deceleration of the operation of the door piece according to the instantaneous scrolling speed of the door piece; even under the same door machine specification, the door piece of different specifications (weight) can be used. For speed control, self-provisioning to the highest opening speed within the safe load range of the door machine. Taking the opening of the door as an example, since the load of the door piece is heavy at the beginning, in the case of the fixed output power of the rolling door driving module, the instantaneous rolling speed of the door piece will be lower than the acceleration speed value; During the opening process of the film, the load of the door is gradually reduced and the instantaneous scrolling speed is gradually increased. When the acceleration speed value is reached, the control module controls the rolling door drive module to accelerate the opening of the door.

Preferably, the speed detecting module of the roll door speed control device of the present invention may comprise an instant position detector, which is adapted to detect an instantaneous absolute position of the door piece; and the speed detecting module may be configured according to the The amount of change per second of the absolute position is used as the instantaneous scrolling speed of the door. In other words, the present invention can obtain the instantaneous scrolling speed of the door piece by using only the instantaneous position detector to sense the absolute position of the door piece and calculating the amount of change per second.

Furthermore, the control module of the roll door speed control device of the present invention can set the start position of the deceleration before the end of the opening or closing stroke of the door piece according to the instantaneous scrolling speed of the door piece detected by the speed detecting module. In detail, different deceleration strokes may be required due to different instantaneous scrolling speeds, and the faster the instant scrolling speed is, the more the starting position of the deceleration needs to be advanced.

In addition, the control module of the roll door speed control device of the present invention can determine whether the door is open or closed according to the change of the instantaneous absolute position detected by the instant position detector or toward the decrease. In other words, the present invention can use the change trend of the instantaneous absolute position detected by the instant position detector to determine whether the door is opened or closed. When the action direction of the door is wrong, the control module can immediately control the suspension operation.

Furthermore, the control module of the roll door speed control device of the present invention may include a memory unit that stores an acceleration speed value, a deceleration speed value, and a safe speed range value; the acceleration speed value and the deceleration speed value are at a safe speed. Within the range value; when the instantaneous scrolling speed of the door piece exceeds the safe speed range value, the control module controls the rolling door drive module to stop the opening or closing of the door piece. In other words, the present invention can additionally set a safe speed range value. When the instantaneous scrolling speed of the door piece exceeds or falls below the safe speed range value, that is, when the running speed is too fast or too slow, the door piece stalls, the control module The roll door drive module will then be controlled to stop the opening or closing of the door to prevent the device from being damaged or dangerous.

To achieve the above object, a roll door speed control method of the present invention is adapted to control a roll door drive module, and a roll door drive module is used to drive a door open or close. The method comprises the following steps : (A). A control module controls a speed detecting module to detect the instantaneous scrolling speed of the door; and (B). The control module controls the rolling door driving module to open or close the door according to the following conditions; Wherein, when the instantaneous scrolling speed of the door piece reaches an acceleration speed value, the control module controls the rolling door driving module to accelerate the opening or closing of the door piece; when the instantaneous rolling speed of the door piece reaches a deceleration speed value, the control The module controls the opening or closing of the deceleration door of the rolling door drive module; when the instantaneous rolling speed of the door is between the acceleration speed value and the deceleration speed value, the control module controls the rolling door driving module to maintain the current speed.

Accordingly, the roll door speed control method of the present invention can control the acceleration or deceleration of the operation of the door piece according to the instantaneous scrolling speed of the door piece, and can control the speed of the door piece according to different specifications and within the safe load range, the system The operation is stable and safe, and the waiting time for the opening and closing of the door can be greatly shortened, and the energy loss can be effectively reduced.

Preferably, in the step (A) of the method for controlling the speed of the roll door of the present invention, the speed detecting module can be used as a door according to a change in the instantaneous position of the instant position of the door piece detected by a real-time position detector. The instant scrolling speed of the piece.

In addition, in the roll door speed control method of the present invention, the control module can set the start position of the deceleration before the end of the door opening or closing stroke according to the instantaneous scrolling speed of the door piece detected by the speed detecting module.

Moreover, in the method for controlling the speed of the roll door of the present invention, the control module can determine whether the door piece is open or closed according to the change of the instantaneous absolute position detected by the instant position detector or toward the decrease.

In addition, in the roll door speed control method of the present invention, when the instantaneous scrolling speed of the door piece exceeds a safe speed range value, the control module controls the roll door drive module to stop opening or closing the door piece.

2‧‧‧Speed detection module

21‧‧‧ Instant Position Detector

3‧‧‧Control Module

31‧‧‧ memory unit

C‧‧‧Drive chain

D‧‧‧Front

4‧‧‧ Rolling door drive module

41‧‧‧Inverter

42‧‧‧Motor

Dm‧‧‧ door machine

Va‧‧‧ acceleration speed value

Vc‧‧‧ Rolling door speed control device

Vi‧‧‧ Instant scrolling speed

Vr‧‧‧ deceleration speed value

Vs‧‧‧Safety speed range value

Vn‧‧‧ standard speed

1 is a schematic overall view of a preferred embodiment of the present invention.

2 is a schematic view of a rolling door drive module and a roll door speed control device according to a preferred embodiment of the present invention.

3 is a system architecture diagram of a preferred embodiment of the present invention.

4 is a control flow diagram of a preferred embodiment of the present invention.

Before the detailed description of the roll-up speed control device and the control method thereof in the present embodiment, it will be particularly noted that in the following description, like elements will be denoted by the same reference numerals. In addition, the drawings of the present invention are merely illustrative, and are not necessarily drawn to scale, and all details are not necessarily shown in the drawings.

Please refer to FIG. 1 , FIG. 2 and FIG. 3 , FIG. 1 is a schematic view of a preferred embodiment of the present invention, and FIG. 2 is a roll door driving module and a roll door speed control device according to a preferred embodiment of the present invention. FIG. 3 is a system architecture diagram of a preferred embodiment of the present invention. As shown in Fig. 1, the door machine Dm is connected to the door panel D through a drive chain C, and the door machine Dm is used to drive and control the opening or closing of the door panel D.

As shown in FIG. 2 and FIG. 3, the door machine Dm of the present embodiment mainly includes a roll door speed control device Vc and a roll door drive module 4, wherein the roll door speed control device Vc of the embodiment mainly includes speed. The detection module 2 and the control module 3, and the roll door drive module 4 further includes a frequency converter 41 and a motor 42, and the roll door speed control device Vc is used to control the roll door drive module 4 to drive the door piece. D is turned on or off.

Furthermore, the speed detecting module 2 is used to detect the instantaneous scrolling speed Vi of the door panel D, and the speed detecting module 2 of the embodiment includes an instant position detector 21 for detecting the door. An instant absolute position of the sheet D, and a roll door instant position detecting device as mentioned in the prior art section of the specification of the present invention can be employed. However, the speed detecting module 2 of the present embodiment uses the fluctuation amount per second of the instantaneous absolute position detected by the instantaneous position detector 21 as the instantaneous scrolling speed Vi of the door panel D. In addition, the control module 3 is electrically connected to the speed detecting module 2 and the rolling door driving module 4.

In addition, the control module 3 of the embodiment includes a memory unit 31 that stores an acceleration speed value Va, a deceleration speed value Vr, a safe speed range value Vs, and a standard speed Vn; and an acceleration speed value Va, The deceleration speed value Vr and the standard speed Vn are all within the safe speed range value Vs. However, the control module 3 of this embodiment may be a general microprocessor (MCU) or a control circuit including a microprocessor, and the memory unit 31 may be any type of fixed or removable random access memory (Random). Access Memory, RAM), Read-Only Memory (ROM), Flash memory, hard disk or other similar device or a combination of these devices.

Please refer to FIG. 4 again, which is a control flow chart of a preferred embodiment of the present invention. The control logic of the present embodiment will be described in detail below. First, as shown in step S100 of Fig. 4, the instant position detector 21 detects the instantaneous position of the door panel D, and if the end point of the stroke has been reached, the operation is stopped. On the other hand, if the instantaneous position of the door panel D has not reached the end of the stroke, a subsequent control step is performed.

Next, as shown in step S200 of FIG. 4, the system will determine the running direction of the motor 42; that is, the control module 3 changes according to the instantaneous absolute position detected by the instant position detector 21 toward the increase or decrease. The running direction of the motor 42 is judged. In other words, in this embodiment, the change trend of the instantaneous absolute position is used to judge whether the door D is the opening stroke or the closing stroke; when the driving direction of the door panel D is wrong, the control module 3 will immediately stop the operation. On the other hand, if the running direction of the motor 42 is correct, a subsequent control step is performed.

Furthermore, as shown in step S300 of FIG. 4, the system will determine whether the instantaneous scrolling speed Vi conforms to the safe speed range value Vs; that is, when the instantaneous scrolling speed Vi of the flap D exceeds the safe speed range value Vs, The control module 3 controls the roll door drive module 4 to stop the opening or closing of the door piece D. In other words, when the running speed is too fast or too slow, the control module 3 will control the rolling door drive module 4 to stop the opening or closing of the door D to prevent the device from being damaged or dangerous. On the other hand, if the instantaneous scrolling speed Vi meets the safe speed range value Vs, a subsequent control step is performed.

Next, as shown in step S400 of Fig. 4, the system will determine the starting position of the deceleration before the end of the stroke. Further, the system originally has a standard speed Vn. At the beginning, the shutter drive module 4 starts to open or close the door panel D at the standard speed Vn, and at the standard speed Vn, there will be a deceleration before the end of the stroke. Starting the standard position; that is, at the standard speed Vn, when the door piece D reaches the deceleration start standard position, the deceleration is started to end the entire opening or closing stroke to ensure the stability of the entire door machine Dm operation. Accuracy. Among them, the standard speed Vn and the deceleration start standard position are system preset values.

Accordingly, in this step, the system will determine whether the door panel D has reached the deceleration start standard position before the end of the stroke, and if the position has been reached, the motor is reduced to the lowest speed operation, step S410. Next, the system will judge whether the door D reaches the end of the stroke, that is, step S420; if the end point has not been reached, the motor continues to run at the lowest speed until the end point is reached. On the other hand, if the door piece D has not reached the deceleration start standard position before the end of the stroke, the subsequent control steps, that is, the control logic for accelerating, maintaining the original speed, and deceleration are performed.

The shift control logic of this embodiment will be described in detail below. Specifically, step S500 is a deceleration determination step, step S600 is an acceleration determination step, and step S700 is a current speed determination step, but the present invention is not in this order. The order of the above three determining steps may be arbitrarily changed, or the above three determining steps may be performed simultaneously.

First, in the deceleration determining step of step S500, the system determines whether the instantaneous scrolling speed Vi of the flap D reaches the deceleration speed value Vr; if it has reached or has fallen below the deceleration speed value Vr, the control module 3 controls the rolling door drive. The module 4 decelerates the opening or closing of the flap D, that is, reduces the output frequency of the motor 42 of the inverter 41 to perform deceleration, that is, step S510. On the other hand, if the instantaneous scrolling speed Vi is higher than the deceleration speed value Vr, subsequent control logic determination is performed.

Moreover, in the acceleration determining step of step 600, the system determines whether the instantaneous scrolling speed Vi of the flap D reaches the acceleration speed value Va; if the acceleration speed value Va has been reached or has been exceeded, the control module 3 controls the rolling door. The driving module 4 accelerates the opening or closing of the door piece D, that is, increases the output frequency of the motor 42 of the frequency converter 41 for acceleration, that is, step S610. On the other hand, if the instantaneous scrolling speed Vi is lower than the acceleration speed value Va, subsequent control logic determination is performed.

In addition, the step 700 maintains the current speed step. If the step S500 and S600 are determined, and the instantaneous scrolling speed Vi of the door D is between the acceleration speed value Va and the deceleration speed value Vr, the control module 3 The shutter drive module 4 is controlled to maintain the current speed, that is, to maintain the output frequency of the motor 42 of the current inverter 41, that is, step S710.

However, the above three steps are continuously circulated until the start position of the deceleration before the end of the closing stroke of the flap D. Further, since different instantaneous scrolling speeds Vi may require different deceleration strokes; in the case of acceleration, for example, the instantaneous scrolling speed Vi after the acceleration has exceeded the standard speed Vn mentioned in step S400, so the deceleration starts the standard position. It is no longer applicable, and the starting position of the actual deceleration needs to be advanced.

At this time, the system will set the start position of the deceleration before the end of the opening or closing stroke of the door piece D according to the instantaneous scrolling speed Vi of the door piece D detected by the speed detecting module 2. Similarly, taking the deceleration as an example, the instantaneous scrolling speed Vi after the deceleration is lower than the standard speed Vn mentioned in step S400, so the deceleration starting standard position is no longer applicable, and the deceleration starting position is deferrable. Rear.

Overall, the system will cooperate with the position information provided by the instant position detector 21 according to the instantaneous scrolling speed Vi of the door piece D, and calculate the optimal distance before the end of the stroke to complete the minimum speed operation before the end of the stroke. The deceleration action is to avoid the accuracy of the end position of the stroke due to the difference in the rotational speed of the motor 42 during the braking operation.

The above-described embodiments are merely examples for the convenience of the description, and the scope of the claims is intended to be limited to the above embodiments.

Claims (10)

 A roll door speed control device is adapted to control a roll door drive module for driving a door piece to be opened or closed. The device comprises: a speed detection module, which is suitable for detecting The instantaneous scrolling speed of the door piece; and a control module electrically connected to the speed detecting module and the rolling door driving module; wherein, when the instant rolling speed of the door piece reaches an acceleration speed value The control module controls the rolling door driving module to accelerate the opening or closing of the door; when the instantaneous rolling speed of the door reaches a deceleration speed value, the control module controls the rolling door driving module to slow down The door panel is opened or closed; when the instantaneous scrolling speed of the door piece is between the acceleration speed value and the deceleration speed value, the control module controls the rolling door driving module to maintain the current speed.    The roll door speed control device of claim 1, wherein the speed detecting module comprises an instant position detector adapted to detect an instantaneous absolute position of the door; the speed detecting module is based on the instant The amount of change per second of the absolute position is used as the instantaneous scrolling speed of the door piece.    The roll door speed control device of claim 2, wherein the control module sets the deceleration before the end of the opening or closing stroke of the door piece according to the instantaneous scrolling speed of the door piece detected by the speed detecting module. Start position.    The roll door speed control device of claim 2, wherein the control module determines whether the door is open or closed based on an increase in the instantaneous absolute position detected by the immediate position detector or a decrease in the change.    The roll door speed control device of claim 1, wherein the control module includes a memory unit that stores the acceleration speed value, the deceleration speed value, and a safe speed range value; the acceleration speed value, and the The deceleration speed value is located within the safe speed range value; when the instant scrolling speed of the flap exceeds the safe speed range value, the control module controls the rolling door drive module to stop the opening or closing of the flap.    A roll door speed control method is suitable for controlling a roll door drive module for driving a door piece to be opened or closed. The method comprises the following steps: (A). A control module controls a The speed detecting module detects the instantaneous scrolling speed of the door piece; and (B) the control module controls the rolling door driving module to open or close the door piece according to the following conditions; wherein, when the door piece is When the instantaneous scrolling speed reaches an acceleration speed value, the control module controls the rolling door driving module to accelerate the opening or closing of the door; when the instantaneous rolling speed of the door reaches a deceleration speed value, the control module The group controls the roll door drive module to slow down the opening or closing of the door piece; when the instantaneous scrolling speed of the door piece is between the acceleration speed value and the deceleration speed value, the control module controls the roll door drive The module maintains the current speed.    The roll door speed control method of claim 6, wherein the speed detecting module is used as an instant of the door piece according to an instantaneous position detector detecting an instantaneous absolute position change of the door piece. Scrolling speed.    The roll door speed control method of claim 6, wherein the control module sets the deceleration before the end of the door opening or closing stroke according to the instantaneous scrolling speed of the door detected by the speed detecting module. Start position.    The roll door speed control method of claim 6, wherein the control module determines that the door is an open or closed stroke according to an increase or a decrease in the instantaneous absolute position detected by the immediate position detector.    The roll door speed control method of claim 6, wherein the control module controls the roll door drive module to stop opening or closing the door when the instantaneous scroll speed of the door exceeds a safe speed range value.